Many GNSS signal with clock difference modeling process
Many GNSS signal with clock difference modeling process
 CN 102,353,936 B
 Filed: 09/26/2006
 Issued: 08/24/2016
 Est. Priority Date: 10/03/2005
 Status: Active Grant
First Claim
1. the method processing the signal data derived from the signal of the satellite being received from two or more GNSS, oftenOne GNSS has respective clocking error, and described method includes:
 From described signal data, satellite is eliminated special by the poor operation of the list between receiver user and reference receiver dataFixed clocking error；
After the elimination of clocking error specific to described satellite, state vector the wave filter defined is applied to byEliminating the signal data set with estimation carrier ambiguities of the specific clocking error of satellite, wherein, described state vector includes;
First clocking error state, it represents the clocking error of a GNSS；
And second clock error state, it represents described theDifference between clocking error and the clocking error of the 2nd GNSS of one GNSS.
Chinese PRB Reexamination
Abstract
Propose three kinds of new methods, for improving floatsolution and the ambiguity resolution of multiple GPS (GNSS), in the plurality of GNSS one can be GNSS based on FDMA (such as GLONASS), and described three kinds of methods include: the different clocks error relevant with hardware between (1) GNSS different to two (or two or more) is modeled；(2) frequencydependent bias presented in frequency division multiple access (FDMA) GNSS is modeled；And (3) are referred to as scoreboard part and fix the Ambiguity Solution Methods of (SPF).The method proposed is independent of the quantity of the carrier frequency followed the tracks of for each satellite navigation system.This application produces the most more reliable ambiguity resolution.Compare with the algorithm known often resulting in degraded performance because of many GNSS, make use of, in the most efficient mode, the advantage that the combination of many GNSS observes.Having been found that such as, for processing the signal of the GNSS receiver from different manufacturers, utilize the GNSS observation of the combination from the most different hardware, the method for frequencydependent bias is the most effective.
20 Claims

1. the method processing the signal data derived from the signal of the satellite being received from two or more GNSS, oftenOne GNSS has respective clocking error, and described method includes:

From described signal data, satellite is eliminated special by the poor operation of the list between receiver user and reference receiver dataFixed clocking error； After the elimination of clocking error specific to described satellite, state vector the wave filter defined is applied to byEliminating the signal data set with estimation carrier ambiguities of the specific clocking error of satellite, wherein, described state vector includes;
First clocking error state, it represents the clocking error of a GNSS；
And second clock error state, it represents described theDifference between clocking error and the clocking error of the 2nd GNSS of one GNSS.


2.
The most described state vector farther includes:  represent the shape of the position at each stationState, and represent the state of the carrier ambiguities that at least one carrier frequency is combined, described method farther includes;
will be everyOne the select of satellite of one GNSS is as reference satellite, and retrains described carrier ambiguities.
 represent the shape of the position at each stationState, and represent the state of the carrier ambiguities that at least one carrier frequency is combined, described method farther includes;

3.
The most described wave filter is the factorizedbased filter being applied to described single difference dataThe geometric filter of device set.

4.
The most described state vector farther includes:  the 3rd clocking error state, its tableShow the difference between clocking error and the clocking error of the 3rd GNSS of a described GNSS.

5.
The most the method for claim 1, wherein at least one GNSS includes FDMA GNSS, and wherein, described stateVector farther includes:  represent the state of the wavelength/frequency dependency factor of each frequency range for each FDMA GNSS.

6. method as claimed in claim 5, wherein, described wavelength/frequency dependency factor represents the difference to reference wavelength.

7. method as claimed in claim 6, wherein, a GNSS includes GLONASS system, and wherein, described wavelength/frequentlyThe rate dependence factor representation difference to GLONASS wavelength.

8. method as claimed in claim 5, wherein, each satellite of described FDMA GNSS has unique carrier band, andWherein, the wavelength/frequency dependency factor for given satellite is the coefficient of unique carrier band based on described given satellite.

9. method as claimed in claim 5, farther includes,
The complete set of integer ambiguity for all satellites is determined from described signal data； 
Determine that the effectiveness of the integer ambiguity of described complete set and at least one quality for described complete set are surveyedAmount； For each subset in multiple subsets of described satellite, determine the partial set of integer ambiguity； For each in described partial set, determine the effectiveness of the integer ambiguity of described partial set and for instituteState at least one mass measurement of partial set；
AndFrom being confirmed as among effective complete set and partial set, selecting mass measurement is that optimum set is as correct collectionClose.


10. method as claimed in claim 9, wherein, selected correct set includes that partial set, described method wrap furtherInclude:
 carry out selected correct set described in augmentation with the integer ambiguity of another set or partial set.

11. 1 kinds for processing the dress of the signal data derived from the signal of the satellite being received from two or more GNSSPutting, each GNSS has respective clocking error, and described device includes:

Defend for being eliminated from described signal data by the poor operation of list between receiver user and reference receiver dataThe module of the specific clocking error of star； After the elimination at clocking error specific to described satellite, state vector the wave filter defined is applied toThrough being eliminated the signal data module with the set of estimation carrier ambiguities of the specific clocking error of satellite, Wherein, described state vector includes;
the first clocking error state, and it represents the clocking error of a GNSS；
And secondClocking error state, it represents the difference between clocking error and the clocking error of the 2nd GNSS of a described GNSS.


12. devices as claimed in claim 11, wherein, described state vector farther includes:
 represent the position at each stationState, and represent the state of the carrier ambiguities that at least one carrier frequency is combined.

13. devices as claimed in claim 11, wherein, described wave filter is the factorization filter being applied to described single difference dataThe geometric filter of ripple device set.

14. devices as claimed in claim 11, wherein, described state vector farther includes:
 the 3rd clocking error state, itsRepresent the difference between clocking error and the clocking error of the 3rd GNSS of a described GNSS.

15. devices as claimed in claim 11, wherein, at least one GNSS includes FDMA GNSS, and wherein, described shapeState vector farther includes:
 represent the state of the wavelength/frequency dependency factor of each frequency range for each FDMA GNSS.

16. devices as claimed in claim 15, wherein, described wavelength/frequency dependency factor represents the difference to reference wavelength.

17. devices as claimed in claim 16, wherein, a GNSS includes GLONASS system, and wherein, described wavelength/Frequencydependent factor represents the difference to GLONASS wavelength.

18. devices as claimed in claim 15, wherein, each satellite of described FDMA GNSS has unique carrier band, andAnd wherein, for the wavelength/frequency dependency factor of given satellite be unique carrier band based on described given satellite beNumber.

19. devices as claimed in claim 15, farther include,
For determining the module of the complete set of the integer ambiguity for all satellites from described signal data； 
For determining the effectiveness of the integer ambiguity of described complete set and at least one matter of described complete setThe module of measurement； For for each subset in multiple subsets of described satellite, determining the module of the partial set of integer ambiguity； For for each in described partial set, determine the effectiveness of the integer ambiguity of described partial set and rightModule at least one mass measurement of described partial set；
AndFor from being confirmed as among effective complete set and partial set, selecting mass measurement is that optimum set is as justThe really module of set.


20. devices as claimed in claim 19, wherein, selected correct set includes that partial set, described device wrap furtherInclude:
 for carrying out the module of selected correct set described in augmentation with the integer ambiguity of another set or partial set.
Specification(s)